For critical state model, the author derives an explicit formula of matrix h, which is used in implicit computation scheme.
对临界状态模型推导了用于隐式计算格式的H矩阵的显式表达式。
Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out.
其次，在深入研究五自由度机械手的运动学问题的基础上，用D-H法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵；
The feasibility and convergence of the BIMV method are proved when the coefficient matrix a of interval linear equations is an interval H-matrix.
当区间线性方程组的系数矩阵a为区间H阵时，证明了BIMV算法的可行性与收敛性。
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